EP2729766A2 - Système et procédé pour suivi de cordon de soudure manuel pendant le soudage et système d'assistance au soudage - Google Patents

Système et procédé pour suivi de cordon de soudure manuel pendant le soudage et système d'assistance au soudage

Info

Publication number
EP2729766A2
EP2729766A2 EP12812014.4A EP12812014A EP2729766A2 EP 2729766 A2 EP2729766 A2 EP 2729766A2 EP 12812014 A EP12812014 A EP 12812014A EP 2729766 A2 EP2729766 A2 EP 2729766A2
Authority
EP
European Patent Office
Prior art keywords
welding
sensors
bead
parameters
feedback
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP12812014.4A
Other languages
German (de)
English (en)
Other versions
EP2729766A4 (fr
Inventor
Omer Einav
Doron Shabanov
Daniel SPIRTUS
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Weldobot Ltd
Original Assignee
Weldobot Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Weldobot Ltd filed Critical Weldobot Ltd
Publication of EP2729766A2 publication Critical patent/EP2729766A2/fr
Publication of EP2729766A4 publication Critical patent/EP2729766A4/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/095—Monitoring or automatic control of welding parameters
    • B23K9/0956—Monitoring or automatic control of welding parameters using sensing means, e.g. optical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/126—Controlling the spatial relationship between the work and the gas torch
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
    • B23K31/12—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to investigating the properties, e.g. the weldability, of materials
    • B23K31/125—Weld quality monitoring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/02—Seam welding; Backing means; Inserts
    • B23K9/0216—Seam profiling, e.g. weaving, multilayer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/127—Means for tracking lines during arc welding or cutting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/127—Means for tracking lines during arc welding or cutting
    • B23K9/1272—Geometry oriented, e.g. beam optical trading
    • B23K9/1274—Using non-contact, optical means, e.g. laser means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/127—Means for tracking lines during arc welding or cutting
    • B23K9/1272—Geometry oriented, e.g. beam optical trading
    • B23K9/1276—Using non-contact, electric or magnetic means, e.g. inductive means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/127—Means for tracking lines during arc welding or cutting
    • B23K9/1272—Geometry oriented, e.g. beam optical trading
    • B23K9/1278—Using mechanical means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/24—Features related to electrodes
    • B23K9/28—Supporting devices for electrodes
    • B23K9/287—Supporting devices for electrode holders

Definitions

  • the invention concerns seam tracking during welding, including a sensor based welding-assistance system providing feedback to the welder while welding.
  • Arc welding is a method for joining metals using an electric arc between an electrode and base material to melt or otherwise fuse the metals at the welding point.
  • the process uses either direct or alternating current, and consumable or non- consumable electrodes.
  • the welding region is generally protected by some type of shielding gas, vapor, and/or slag.
  • welds can be as strong as the base metal(s) involved (when done well) or can lack any structural integrity whatsoever (when done poorly), and since furthermore large building elements and important structural roles may rely on welds, the quality of the welds can be crucial to the integrity of a structure.
  • HAZ heat affected zone
  • the so-called heat affected zone or HAZ can be of varying size and strength; its size and nature depend upon such factors as the welding rate, welding current, and the thermal diffusivity of the base material.
  • the amount of heat input by the welding process plays an important role as well; arc welding falls between the two extremes of laser welding and oxyacetylene welding, with the individual processes varying somewhat in heat input.
  • the factors affecting weld quality and HAZ include current setting, length of arc, angle of electrode, manipulation of the electrode, speed of travel, and correct rod or filler selection.
  • the arc length should not exceed the diameter of the metal portion (core) of the electrode. Holding the electrode too closely decreases welding voltage. This creates an erratic arc that may extinguish itself or cause the rod to freeze, as well as producing a weld bead with a high crown. Excessively long arcs (generally due to too much voltage) produce spatter, low deposition rates, undercuts and possible porosity.
  • Too little amperage causes a weak arc that is hard to strike. Too much amperage causes a large crater, or a flat bead with excessive spatter.
  • the rod angle affects the penetration.
  • One common welding technique involves holding the rod nearly perpendicular to the joint to increase penetration; however this can cause slag to get trapped in the weld. Lowering the rod too flat or low lessens the penetration and causes ripples.
  • Speed affects the amount of rod deposited and the uniformity of the bead. Travelling too fast creates a thin bead with little penetration, while travelling too slow lets the bead build up with edges that overlap the base metal, and on thin metal may form a hole in the base material. The proper travel speed produces a weld bead with the desired contour (or "crown"), width and appearance.
  • the rod For welding on the flat the rod should be angled 10 to 20 degrees from vertical and pulled in the direction of the arrow. The angle of the rod prevents the slag overtaking the rod, which is undesirable as welding over slag causes inclusions in the weld.
  • the invention relates to a device that assists a welder in performing a consistent weld along a seam.
  • a welding device comprising: a plurality of sensors adapted to sense parameters of a welding bead; indicating means adapted to indicate to the user the measurements of said sensors;
  • said sensors comprise distance sensors adapted to sense the arc length.
  • said sensors comprise position sensors adapted to sense the welding bead position relative to a predetermined desired welding bead position, said position sensors sensing parameters selected from the group consisting of: distance from desired welding bead in the direction parallel to said welding bead; distance from said desired welding bead in the direction perpendicular to said welding bead.
  • said sensors comprise speed sensors adapted to measure the speed of production of said welding bead.
  • said sensors comprise spool speed sensors adapted to measure the rate of spool consumption.
  • the welding device of claim 1 further comprising electrode positioning means adapted to move the electrode of said welding gun in a reciprocating movement perpendicular to the direction of said welding bead.
  • said parameters comprise weaving frequency.
  • said measurements comprise measure of the deviation of said welding bead position from the desired welding bead position.
  • nozzle is interchangeable with a set of nozzles adapted for difference welding jobs.
  • said gun comprises active cooling means.
  • said sensors comprise inertial measurement means.
  • said indicating means are adapted to show desired tool path.
  • said indicating means comprise video display means.
  • FIG. 1 depicts an exemplary system diagram showing the main components of the invention
  • FIG. 2 shows a system flow chart
  • FIGS. 3a,b show exemplary systems of the invention
  • FIG 4 shows a cross section of one exemplary welding gun of the system
  • FIG. 5 shows a few examples of display systems of the invention
  • FIG 6 depicts a number of nozzles of the system
  • FIG. 7 shows an example of a nozzle with adjustable standoff
  • FIG. 8 shows an embodiment of a nozzle of the system
  • FIG. 9 shows another embodiment of a nozzle of the system
  • FIG. 10 show another embodiment of a nozzle of the system
  • FIG. 11 shows a nozzle of the system
  • FIG. 12 represents a pace meter of the invention
  • FIG. 13 depicts a welding gun, screen, and pace meter consistent with certain embodiments of the invention.
  • FIG. 14 presents a block diagram of an exemplary system. DETAILED DESCRIPTION
  • the term 'plurality' refers hereinafter to any positive integer (e.g, 1 ,5, or 10).
  • the term 'welding' refers hereinafter to a process for joining metals by means of electric arc, adding a filler material to form a pool of molten material that cools to for a weld.
  • the present invention in some embodiments thereof, relates to devices for welding assistance for a welder, and a semi- autonomous welding device for assisting a welder during welding.
  • the device includes a welding nozzle, welding seam sensor(s), welding gun, feedback unit for the user, control unit, tip movement unit, and accessories.
  • the welding nozzle may be interchangeable (for instance by means of a quick connection system), and may be of a shape appropriate to the welding requirements.
  • differently shaped nozzles may be provided for butt welding, lap welding, overlap welding, right angle welding, pipe welding and the like.
  • the nozzle may have an adjustable tip to accommodate for different weld scenarios such as flat, right angle, and vertical welding.
  • the nozzle be disposable, and in some embodiments the nozzle may be flexible so as to comply to weld geometry.
  • the nozzle may be perforated, or to have a net shaped frame.
  • the nozzle may include a spring mechanism for height compliance.
  • the nozzle may have spacers to allow for different tip heights.
  • the nozzle may be of a brush type.
  • the nozzle may be constructed from material such as brass, iron, ceramic, silicon and the like.
  • the nozzle may include a cooling mechanism that provides a temperature controlled environment for the welding process.
  • This cooling mechanism may use the shielding gas as cooling media, and/or an additional cooling medium can be used.
  • the nozzle may be fitted with various channels for the cooling fluid to allow effective cooling to the desired area. Active cooling can optionally be used for cooling various parts in the system.
  • a welding sensor is used to provide feedback that can indicate the location of the seam.
  • the sensors are used to provide feedback and/or control concerning the voltage, current, tool-weld distance, weld seam characteristics, temperature, and the like.
  • the sensor (or sensors) may comprise one or more of the following technologies:
  • the nozzle may be a pneumatic nozzle using external features such as marking means, for example stickers or other markings, which may be preexisting or added by the system.
  • the welding gun may include the provision to lead the electrode wire, may include a gas feed, a cooling element, may be a standard commercially available unit that is fitted into the device, a vacuum and/or blower to remove process fumes , and a feedback unit as described below.
  • the feedback unit provides cues to the user on the location of the seam.
  • the feedback unit in some embodiments, may indicates the user how to correct his welding motion. In some embodiments of the present invention, the feedback unit corrects only the direction perpendicular to the seam. In some embodiments of the present invention, the feedback unit provides feedback on the speed of the welding gun along the seam.
  • the feedback means of the system may include one or more of the following: LCD screen; LED indications; audible feedback; tactile feedback; and haptic feedback/control such as pushing the user in the right direction.
  • control unit provides means to control, measure and indicate to the user various aspects of the welding process.
  • Various tasks are optionally performed by the controller and may include control over weld parameters such as current, voltage, frequency, nozzle-work distance, length of arc, angle of electrode, manipulation of the electrode, speed of travel, correct rod or filler selection, and the like.
  • controller be adaptive, for example with feedback based on the user's success during the current or past welds.
  • the controller may read the seam offset, and provide correction or feedback automatically within given limits.
  • the system may physically move the nozzle to change the seam offset, and/or may indicate to the user how to adjust (while the unit corrects automatically for instance by use of servo motors or other means), and/or may indicate to the user only that a given adjustment is necessary.
  • the unit may provide automatic correction and/or feedback concerning weld speed, angle, weaving pattern, current, filler type, the relative tool-seam position, and the like.
  • a library in the form of a database, for instance
  • weld parameters for use and/or display to the user, for example including speed, distance, weaving parameters, filler type and the like for various situations and desired outcomes.
  • the various situations include different seam types, metal types, work positions and the like.
  • the desired outcomes may include such factors as degree of slag inclusion, depth of weld penetration, heat profile (the temperature of the weld as a function of time and position), weld shape, material profile, weld strength, material usage, and the like.
  • the tip may be controlled by means of a tip movement unit that provides (for instance) motion perpendicular to the seam direction.
  • This movement unit may have a total travel from 5 to 20 mm, and in some embodiments allows for control over the travel, weave pattern, speed, and the like.
  • a specific unit may be used with fixed travel motion limits and frequency.
  • the moving tip unit may include provision for control over lateral motion and/or forward/backward motion.
  • the tip unit is based on servo drives.
  • the design of the moving tip unit may include an eccentric axis mechanism (for example) to provide left-right motion (perpendicular to the seam direction), a settable or programmable amplitude mechanism for changing the degree or amplitude of this motion, and actuating means such as miniature servo motors, ultrasonic motors, piezoelectric motors, solenoids, dc motors, pneumatic actuators, linear motors, and the like.
  • the welding system includes an optical or vision system that provides feedback to the user.
  • This vision system may be used for showing an image of the seam with various feedback indications, such as temperature, tool-seam distance, electrode angle, speed, and the like.
  • various filters embedded in the vision unit to address different illumination conditions.
  • a fiber optic system for transfer of optical information from place to place. For example, visual information from within the nozzle may be obtained by means of a fiber optic vision system.
  • the vision system uses one or more IR sensors as a means to monitor the welding process.
  • the screen for presenting information to the user be employed.
  • This may include an overlay showing desired tool position and the like.
  • the vision system may include optical, IR, and infrared sensitive elements such as CCDs, and optical presentation elements such as LCD screen, OLED screen, or the like.
  • this may be a touch screen for setting various parameters such as desired weld outcomes (as described above).
  • electronic opacity control is used to change the level of illumination reaching the detection elements of the vision system.
  • shielding gas is used to protect the vision optical element(s) from sparks, spatter and the like.
  • the welding process begin with use of the vision system of the invention.
  • the user may half-press on the welding tool trigger to see an image of the work piece, while a full press on the welding tool trigger hides the vision element and begins the welding process.
  • the user is shown a video representation of the welding scene, such that in principle the heavily darkened element of the welding mask may be made less dark.
  • the welding gun of the invention may have shielding elements preventing line-of-sight between user and work, to prevent radiation and spatter from the work from reaching the user.
  • the user is able to observe the work progress on the video screen of the invention, possibly with various overlays indicating such parameters as deviation from desired position, speed, current, voltage, etc.
  • the system may be adapted for additional scenarios by use of different accessories and tools, for example data acquisition means, group welding provisions, QA monitoring, a training & qualification module, and an automatic mode.
  • This mode includes a mechanism and algorithms to determine the location of the tip relative to the seam in realtime.
  • the movement tip unit is used to provide the motion correction.
  • the correction may be done in the weaving direction (i.e. perpendicular to seam) and/or in the direction of the weld seam and/or in the direction perpendicular to the weld seam.
  • the weld assist unit is incorporated into a semi- or fully-automated welding system, such as a robotic welding system.
  • the system can be used for QA inspection of the weld during or after welding.
  • the weld assist unit is fitted with a pace measurement and/or control device that measures and/or controls the speed of the tip movement.
  • the pace unit indicates to the user if he is moving too fast or too slow.
  • the indication to the user may be in the form of a scale or graph, display, auditory signal, tactile signal, or the like.
  • the pace unit may comprise accelerometers and/or a gyro system.
  • various other sensors may be used to calculate the speed and path, including inertial measurement systems, magnetometers, inclinometers, optical sensors, and the like.
  • the system may be based on RF triangulation, sound wave triangulation, dead reckoning, or any other inertial measurement unit as will be clear to one skilled in the art.
  • the pace unit may be used to calculate the path, speed, and acceleration during use. This information may be used to guide the user and/or to provide feedback for instance in the form of a weld quality assessment.
  • a plot of the actual path may be presented, measures of average deviation, and other parameters and statistics associated with the weld.
  • the plot may be overlaid upon a solid model and/or picture of the work piece.
  • known geometry of the part being welded may be used in combination with the pace unit to provide accurate data on the welding gun or hand location and desired seam/bead location.
  • the deviation may be calculated without reference to time and only taking into account the difference between desired and actual paths in space.
  • the pace unit is a standalone unit that can be attached as a retrofit to an existing device such as a standard weld torch, to provide pace guidance and/or a QA report.
  • the pace unit can be used as a tool to learn the path of an expert welder, for further reference and/or guidance.
  • the unit may calculate deviation from the desired weld curve (which may take various forms such as that of a straight line, a circle, a pipe intersection geometry, a right angle, or the like.)
  • the pace unit is used to calculate the weld motion speed, and adjust the wire feed rate in accordance with the weld speed and desired material deposition depth.
  • a barcode, RFID, QR code, or other reader may be incorporated in the system to provide data on the part.
  • the data may include part expected geometry, weld parameters, part material, and desired speed and pace.
  • the tag(s) or other elements being read may be located on the workpiece, at an operator's station, or other location.
  • the part geometry may be used to compare it to the actual path as being currently measured. This knowledge may further optionally be used to provide guidance and/or feedback and/or QA report.
  • the user may indicate to the system the type of weld that is to be performed (for example the curve including straight line, circle, pipe section etc. and/or the type, such as butt weld, lap weld, etc). It is within provision of the invention that the system will calculate actual deviation from the expected geometry during welding execution, for example calculating statistics such as mean squared deviation and the like.
  • the weld assist unit is provided with a sensor giving indication of the torch handle orientation (e.g vertical orientation, horizontal orientation, upside down orientation, or orientation in the form of a set of angles). Based on the unit orientation, a different set of weld parameter may be used to guide the user to perform a better weld.
  • a sensor giving indication of the torch handle orientation e.g vertical orientation, horizontal orientation, upside down orientation, or orientation in the form of a set of angles.
  • the weld assist unit provides a
  • weld parameters such as deviation from desired path, heat affected zone and characteristics, weld strength approximation, and the like that can be used to validate the quality of the weld process.
  • the QA report may be provided in the form of a subsystem, which may be an optional or integral part of the system or the pace unit.
  • Various parameters may be used to provide QA information for example: Weld current, weld voltage, weld frequency, weld speed, weld path, weld deviation from desired path, weld wire feed rate, weld geometry, molten pool characteristics, HAZ characteristics, and the like.
  • the QA information may be presented to the user or stored in a database.
  • the information may be presented as a graph and/or charts, including presentation of relations between parameters.
  • current vs. speed of torch, wire feed vs. speed of torch, deviation from desired path vs. speed of torch, HAZ vs. current, and the like may all be presented to allow the user to assess areas of strength or weakness in welding technique.
  • a vision and/or optical system may also be used for the QA report. Images and video of the weld or the molten pool can be presented or can be used with additional overlaid info.
  • FIG. 1 illustrates an exemplary simplified diagram of the welding system of the invention 100.
  • the system in this example includes a welding tip 105, which provides means to deliver the wire electrode to the weld location.
  • a welding nozzle 110 is attached to the front end of the unit, protecting the shielding gas from the environment, and protecting the user and the rest of the system from the intense light of the welding process.
  • a tip movement unit 120 provides the necessary movement in the lateral direction (perpendicular to the seam).
  • the tip movement mechanism provides movement along the seam direction.
  • the tip movement mechanism includes a drive mechanism along the in/out direction of the welding (i.e. into/out of the work piece, changing the work piece - welding tip distance).
  • sensors are embedded in the movement mechanism and/or the nozzle to provide feedback to the system.
  • a coil 125 is used to measure the current flow thru the tip and thus provide feedback to the system on the welding condition.
  • a unit such as a current transducer can be used for feedback.
  • an off-center shaft and mechanism 128 is used to provide the lateral 'weaving' movement, allowing the operator to use a simpler linear movement.
  • a display 130 is fitted on the unit to provide feedback to the user.
  • a motor 140 is embedded in the unit to provide means to drive the tip movement unit.
  • a handle 150 and an operation button are typically used with the gun.
  • embedded control means such as a microprocessor provides the on line management of the tool, and can optionally be used for additional purposes such as driving the display 130, collecting data, communication with a database, etc. Additional accessories can be used to improve the weld process.
  • an external PC or other computing means is used to provide feedback to the user, including various information that may be found useful and which may be presented automatically and/or by user selection.
  • An external database can be linked to the system to provide optimal parameters and to store various aspects of the process for further use.
  • the database includes specific information relating to a specific user where the welding parameter and the feedback information to the user and system can be optimal.
  • the database may be network and/or web accessible, allowing for instance multiple users to share data (for instance on what settings are best for what metals, etc).
  • a further database may be supplied for reporting, inspection, and QA purposes.
  • Fig. 2 showing a system flowchart consistent with some embodiments of the invention.
  • the user first sets welding parameters (210), for example weld speed, feed rate of electrode, and the like.
  • the user then approaches the 1st weld point 220.
  • a built-in miniature camera can help the user validate that the tip is pointing to the correct starting position.
  • electrical contact is obtained 230 and the welding process 240 can begin.
  • the unit provides the weaving lateral motion 250 while the user moves along the seam 260.
  • the user corrects the lateral position of the torch; optionally, the unit corrects the lateral position automatically 270, for example within a given range. This process repeats during the welding session unit the user reaches the welding end point 280.
  • An electrode 310 provides the filling material, and nozzle 320 protects the welding area.
  • a display 330 provides feedback to the user.
  • An operation button 340 provides means to activate the system.
  • a handle 350 is used for holding the welding system.
  • a supply cord 360 is used to deliver to the unit various supplies such as the electrode feed, electrical power, shielding gas, control information, and the like.
  • FIG. 4 shows another possible implementation of the system.
  • a feedback coil (410) is used to measure the electrode current.
  • An off-center (eccentric) mechanism 420 is used to provide the weaving lateral movement.
  • a shaft 430 is used to deliver rotary motion from the motor 440.
  • Fig. 5 where an exemplary display system is shown.
  • the video display (330 of Fig. 3a, b) is shown in various situations. When the user is moving at the right speed and at the center line of the seam an indication is presented to him 510. In case the user moves at inappropriate speed (high 520 or low 530) the display indicates the deviation. Likewise, the system indicates deviation from the desired bead location (540, indicating a fast beat to the left of desired location, and 550, indicating a slow bead to the right of desired location).
  • FIG. 6 where a series of situations using the inventive device are shown.
  • Right angle welding is indicated in 610 and 620 while flat butt welding is shown in 630 and 640.
  • Pipe welding configurations are shown in 650 and 660; a specific nozzle shape may be used for each of these cases.
  • the various nozzles as mentioned may be interchangeable, reusable or disposable.
  • a spacer 675 (Fig 7) can be used to change the height of the unit relative to the work piece.
  • the spacer may be adjusted manually or automatically to a specific height, for example by means of a screw adjustment.
  • the nozzle 678 may be made of brush-like material.
  • An adjustable angle nozzle (Fig. 8 elements 680, Fig. 9 element 685) may be fitted to the torch to allow for welding different geometries.
  • the nozzle is fitted with a fiber optic 698 (or multiple fibers) to allow the vision system viewing access to the seam weld.
  • the unit may have a graphic indicator 710 that provides visual feedback to the user, for example showing the current welding rate relative to the desired one.
  • a speaker 730 may used to provide audio feedback to the user.
  • Set up button 720 are optional and may be used to record data, to change display and to set parameters.
  • the pace unit may be a stand alone unit, for example wearable on a wrist (700).
  • the pace unit may be incorporated to the welding unit as indicated in 750.
  • the pace unit may be fitted to existing equipment, for example a commercial welding head, a paint spray gun, or the like.
  • the pace unit is useful for any process requiring a tool to move at a given speed and/or on a certain trajectory, such as welding, painting, heat treatment, plasma spraying, drying, wetting, and any number of other industrial processes that may require manual dexterity or for whatever reason are not carried out on a speed-controlled conveyor belt or the like.
  • Fig. 13 an embodiment of a pace system is shown.
  • the pace system may include a welding tool 820 that the pace system is attached or embedded in.
  • An indicator 830 is used to show the actual and/or desired rate of travel, and/or other parameters.
  • Fig. 14 is a block diagram of certain implementations of the invention.
  • Embedded control 840 such as a CPU, MCU or the like provides real time calculation, as well as a link to external devices such as a personal computer, a cellular phone or a tablet 850.
  • An external data base 860 may also be linked to the system to retrieve and store data. Additional accessories 870 may also be provided with the system.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Plasma & Fusion (AREA)
  • Geometry (AREA)
  • Quality & Reliability (AREA)
  • Optics & Photonics (AREA)
  • Arc Welding In General (AREA)
  • Resistance Welding (AREA)
  • Numerical Control (AREA)
  • Arc Welding Control (AREA)

Abstract

L'invention porte sur un système pour un soudage manuel amélioré. Le système comprend une nouvelle buse pour maintenir une distance électrode-pièce à travailler fixe, des capteurs tels que des capteurs optiques, de température, d'ultrasons, et analogues, pour assurer une rétroaction concernant la qualité de la soudure, et des indicateurs tels qu'un écran vidéo indiquant des caractéristiques de soudage réelles en fonction de caractéristiques de soudage désirées (telles que la vitesse, la taille, la position, et analogue). De plus, des actionneurs dans le dispositif permettent une commande de mouvement soit perpendiculairement par rapport au cordon de soudure, soit parallèlement par rapport à celui-ci, soit les deux. Par exemple, un axe excentrique permet l'automatisation d'un mouvement de croisement de soudage.
EP12812014.4A 2011-07-08 2012-07-04 Système et procédé pour suivi de cordon de soudure manuel pendant le soudage et système d'assistance au soudage Withdrawn EP2729766A4 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201161505552P 2011-07-08 2011-07-08
PCT/IL2012/050231 WO2013008235A2 (fr) 2011-07-08 2012-07-04 Système et procédé pour suivi de cordon de soudure manuel pendant le soudage et système d'assistance au soudage

Publications (2)

Publication Number Publication Date
EP2729766A2 true EP2729766A2 (fr) 2014-05-14
EP2729766A4 EP2729766A4 (fr) 2015-11-11

Family

ID=47506633

Family Applications (1)

Application Number Title Priority Date Filing Date
EP12812014.4A Withdrawn EP2729766A4 (fr) 2011-07-08 2012-07-04 Système et procédé pour suivi de cordon de soudure manuel pendant le soudage et système d'assistance au soudage

Country Status (8)

Country Link
US (1) US20140144896A1 (fr)
EP (1) EP2729766A4 (fr)
JP (1) JP2014524840A (fr)
KR (1) KR20140094501A (fr)
CN (1) CN103648703A (fr)
CA (1) CA2841810A1 (fr)
IL (1) IL230113A0 (fr)
WO (1) WO2013008235A2 (fr)

Families Citing this family (35)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9483959B2 (en) 2008-08-21 2016-11-01 Lincoln Global, Inc. Welding simulator
US9196169B2 (en) 2008-08-21 2015-11-24 Lincoln Global, Inc. Importing and analyzing external data using a virtual reality welding system
US8274013B2 (en) 2009-03-09 2012-09-25 Lincoln Global, Inc. System for tracking and analyzing welding activity
CN105788408A (zh) * 2013-03-11 2016-07-20 林肯环球股份有限公司 使用虚拟现实焊接系统导入和分析外部数据
CN103706931A (zh) * 2013-12-17 2014-04-09 鞍钢集团铁路运输设备制造公司 一种co2气保焊枪
US10170019B2 (en) * 2014-01-07 2019-01-01 Illinois Tool Works Inc. Feedback from a welding torch of a welding system
WO2016044679A1 (fr) 2014-09-19 2016-03-24 Realityworks, Inc. Capteur de vitesse de soudage
WO2016044680A1 (fr) 2014-09-19 2016-03-24 Realityworks, Inc. Dispositif de régulation de vitesse de soudage
US11247289B2 (en) 2014-10-16 2022-02-15 Illinois Tool Works Inc. Remote power supply parameter adjustment
US10239147B2 (en) 2014-10-16 2019-03-26 Illinois Tool Works Inc. Sensor-based power controls for a welding system
CN104526214B (zh) * 2014-11-27 2016-05-11 成都环龙智能系统设备有限公司 一种波纹板机器人
US10773329B2 (en) 2015-01-20 2020-09-15 Illinois Tool Works Inc. Multiple input welding vision system
CN107912061B (zh) 2015-03-06 2021-06-01 伊利诺斯工具制品有限公司 用于焊接的传感器辅助头戴式显示器
CN107980153B (zh) 2015-03-09 2021-10-22 伊利诺斯工具制品有限公司 提供与焊接操作相关联的视觉信息的方法和装置
US9977242B2 (en) 2015-03-26 2018-05-22 Illinois Tool Works Inc. Control of mediated reality welding system based on lighting conditions
US10363632B2 (en) 2015-06-24 2019-07-30 Illinois Tool Works Inc. Time of flight camera for welding machine vision
WO2017040257A1 (fr) * 2015-08-28 2017-03-09 Illinois Tool Works Inc. Soudage manuel et automatisé hybride
EP3319066A1 (fr) * 2016-11-04 2018-05-09 Lincoln Global, Inc. Sélection de fréquence magnétique pour le suivi de position électromagnétique
DE102016225860B4 (de) 2016-12-21 2022-05-19 Audi Ag Punktgasdüse für einen Schweißbrenner
CN106903406A (zh) * 2017-04-28 2017-06-30 四川玛瑞焊业发展有限公司 针对焊透力的焊枪喷嘴改进结构
JP2019018240A (ja) * 2017-07-21 2019-02-07 日立Ｇｅニュークリア・エナジー株式会社 溶接制御システム、溶接用手袋および溶接訓練方法
CN111386170A (zh) * 2017-11-29 2020-07-07 远程声波控股公司 超声加工设备、超声加工设备的配置方法及具有这种超声加工设备的系统
US11897060B2 (en) 2017-11-29 2024-02-13 Lincoln Global, Inc. Systems and methods for welding torch weaving
US11065707B2 (en) 2017-11-29 2021-07-20 Lincoln Global, Inc. Systems and methods supporting predictive and preventative maintenance
KR102027836B1 (ko) * 2017-12-01 2019-10-04 삼성중공업 주식회사 용접 난이도 기반 용접 보조 시스템 및 방법
JP7045243B2 (ja) * 2018-04-03 2022-03-31 株式会社ダイヘン コンピュータプログラム、溶接情報算出装置、溶接トーチ、溶接電源、溶接システム
US11014184B2 (en) 2018-04-23 2021-05-25 Hitachi, Ltd. In-process weld monitoring and control
US11521512B2 (en) 2019-02-19 2022-12-06 Illinois Tool Works Inc. Systems for simulating joining operations using mobile devices
US11450233B2 (en) 2019-02-19 2022-09-20 Illinois Tool Works Inc. Systems for simulating joining operations using mobile devices
US20220234127A1 (en) * 2019-06-11 2022-07-28 Mayekawa Mfg. Co., Ltd. Welding device for non-circular plate and producing method for non-circular plate structure
KR20210047447A (ko) 2019-10-22 2021-04-30 한국조선해양 주식회사 3축 자세 제어가 가능한 용접 헤드
US11322037B2 (en) 2019-11-25 2022-05-03 Illinois Tool Works Inc. Weld training simulations using mobile devices, modular workpieces, and simulated welding equipment
US11721231B2 (en) 2019-11-25 2023-08-08 Illinois Tool Works Inc. Weld training simulations using mobile devices, modular workpieces, and simulated welding equipment
CN112355521B (zh) * 2020-11-03 2022-04-12 中国石油化工集团有限公司 焊接层间温度与焊接道数的采集装置
EP4173763A1 (fr) * 2021-07-17 2023-05-03 Garmo Instruments, Sl Robot collaboratif pour applications de soudure

Family Cites Families (42)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3200235A (en) * 1963-06-19 1965-08-10 Smith Corp A O Heavy duty spot welding apparatus and method
US4093844A (en) * 1976-09-14 1978-06-06 Arcair Company Arc length measurement and control by optical scanning
US4399346A (en) * 1981-05-29 1983-08-16 Kearney Frank W Optoelectronic weld travel speed sensor
US4590577A (en) * 1982-12-01 1986-05-20 Yaskawa Electric Mfg. Co., Ltd. Welding robot controlling method
US4491719A (en) * 1982-12-20 1985-01-01 General Electric Company Light pattern projector especially for welding
US4532404A (en) * 1983-02-01 1985-07-30 Canadian Patents And Development Limited Real time control system and process for controlling predetermined operating characteristics of a welding mechanism
US4675502A (en) * 1985-12-23 1987-06-23 General Electric Company Real time tracking control for taught path robots
US4724302A (en) * 1987-03-30 1988-02-09 General Electric Company Bead process control with profiler
DE3828473A1 (de) * 1988-08-22 1990-03-15 Deggendorfer Werft Eisenbau Mit stabelektroden arbeitender lichtbogen-schweissautomat und eine bevorzugte anwendung eines solchen
US5317116A (en) * 1989-08-02 1994-05-31 Mitsubishi Denki Kabushiki Kaisha Pulse welding apparatus
JPH03110067A (ja) * 1989-09-25 1991-05-10 Hitachi Ltd ロボット用ウィービング装置
US5254835A (en) * 1991-07-16 1993-10-19 General Electric Company Robotic welder for nuclear boiling water reactors
JP3115173B2 (ja) * 1993-12-22 2000-12-04 松下電器産業株式会社 消耗電極式アーク溶接機のワイヤ送給速度制御装置
JP3346917B2 (ja) * 1994-11-02 2002-11-18 株式会社小松製作所 プラズマ切断装置におけるトーチ高さ制御装置
JPH08164482A (ja) * 1994-12-13 1996-06-25 Yokohama Rubber Co Ltd:The 溶接装置
JP3190983B2 (ja) * 1997-11-04 2001-07-23 川崎重工業株式会社 溶接状況遠隔監視装置及び溶接状況遠隔監視方法
US6362456B1 (en) * 1998-12-17 2002-03-26 Caterpillar Inc. Method and system for controlling weld geometry features for improved fatigue performance of fabricated structures
US6242711B1 (en) * 1999-12-27 2001-06-05 Accudata, Inc. Arc welding monitoring system
AT413954B (de) * 2000-11-02 2006-07-15 Fronius Int Gmbh Erfassungselement für ein schweissgerät
US6492618B1 (en) * 2000-11-02 2002-12-10 Tri Tool Inc. Automatic weld head alignment and guidance system and method
US6441342B1 (en) * 2000-11-20 2002-08-27 Lincoln Global, Inc. Monitor for electric arc welder
JP2002205166A (ja) * 2001-01-04 2002-07-23 Kawasaki Heavy Ind Ltd 溶接状態表示装置
JP2002210559A (ja) * 2001-01-19 2002-07-30 Mitsubishi Heavy Ind Ltd 薄板材の炭酸ガス突き合わせ溶接方法
TW565684B (en) * 2001-02-14 2003-12-11 Honda Motor Co Ltd Welding state monitoring device
US7380697B2 (en) * 2001-02-14 2008-06-03 Honda Giken Kogyo Kabushiki Kaisha Welding condition monitoring device
JP2002283055A (ja) * 2001-03-26 2002-10-02 Nippon Steel Weld Prod & Eng Co Ltd 溶接用フラックス入りワイヤの送給方法
JP3806342B2 (ja) * 2001-11-26 2006-08-09 三菱重工業株式会社 ３次元形状物溶接方法及びその装置
JP3733485B2 (ja) * 2002-03-04 2006-01-11 川崎重工業株式会社 自動開先倣い溶接装置および方法
JP2004074224A (ja) * 2002-08-19 2004-03-11 Kobe Steel Ltd 溶接ロボット装置
CA2482240A1 (fr) * 2004-09-27 2006-03-27 Claude Choquet Systeme et methode d'entrainement et de qualification applicables aux mouvements corporels
US20060070987A1 (en) * 2004-09-30 2006-04-06 Lincoln Global, Inc. Monitoring device for welding wire supply
CN2765703Y (zh) * 2004-10-28 2006-03-22 长春工业大学 视频摄像传感器埋弧焊焊缝自动跟踪装置
AT504197B1 (de) * 2006-09-08 2010-01-15 Fronius Int Gmbh Schweissverfahren zur durchführung eines schweissprozesses
DE202007011584U1 (de) * 2007-08-17 2009-01-02 Interforge Klee Gmbh Schweißgerät
EP2055446A1 (fr) * 2007-10-31 2009-05-06 Abb As Appareil de robot portable et procédé de contrôle des mouvements d'un robot
JP5167537B2 (ja) * 2007-12-07 2013-03-21 株式会社小松製作所 溶接ロボットの制御装置および制御方法
AT507021B1 (de) * 2008-07-04 2010-04-15 Fronius Int Gmbh Vorrichtung zur simulation eines schweissprozesses
US8274013B2 (en) * 2009-03-09 2012-09-25 Lincoln Global, Inc. System for tracking and analyzing welding activity
AT508197B1 (de) * 2009-04-24 2011-05-15 Schweisstechnische Zentralanstalt Inst Fuer Schweiss Verbindungs Und Prueftechnik Verfahren für das metallschutzgasschweissen mit einer teilautomatisierten, programmunterstützten, handgeführten schweisspistole
CN201467363U (zh) * 2009-06-27 2010-05-12 山西平阳重工机械有限责任公司 焊接监控装置
CN101745765B (zh) * 2009-12-15 2012-02-08 哈尔滨工业大学 人机协作共享控制遥控焊接的方法
WO2012082105A1 (fr) * 2010-12-13 2012-06-21 Edison Welding Institute, Inc. Système d'apprentissage de soudage

Also Published As

Publication number Publication date
EP2729766A4 (fr) 2015-11-11
WO2013008235A2 (fr) 2013-01-17
CN103648703A (zh) 2014-03-19
KR20140094501A (ko) 2014-07-30
IL230113A0 (en) 2014-03-31
WO2013008235A3 (fr) 2013-07-04
US20140144896A1 (en) 2014-05-29
CA2841810A1 (fr) 2013-01-17
JP2014524840A (ja) 2014-09-25

Similar Documents

Publication Publication Date Title
US20140144896A1 (en) System and method for manual seam tracking during welding and welding assistance system
EP3335823B1 (fr) Système et procédé pour étalonner un formateur de soudage
US11749133B2 (en) Welding training system
US10913125B2 (en) Welding system providing visual and audio cues to a welding helmet with a display
US11524368B2 (en) Augmented vision system with active welder guidance
US20160214198A1 (en) Manual Tool Tracking and Guidance With Inertial Measurement Unit
EP3318360A1 (fr) Communication entre une machine de soudage et un dispositif d'entrainement de soudage en direct
US9962785B2 (en) System and method for true electrode speed
CA2855904C (fr) Systeme et procede de soudage portatif et pistage de ligne de soudure modulaires
EP3247525B1 (fr) Suivi et guidage d'outil manuel ayant une unité de mesure inertielle
WO2003074221A1 (fr) Soudeuse de copie de rainure automatique et procede de soudage
CN108723548A (zh) 用于借助温度检测器进行焊接的方法和系统
KR102084248B1 (ko) 가상현실 피복 아크 용접 시뮬레이터 시스템 및 그 제어 방법
JP6834023B2 (ja) 溶接ワイヤ電極を用いて金属ワークのワーク表面にマーキングするための方法および装置
CN109937112A (zh) 电弧焊接的显示装置及显示方法
JPH09295145A (ja) 管の自動溶接装置
WO2022065364A1 (fr) Système de mesure de soudure et procédé de mesure de soudure
Harwig et al. Semiadaptive synergic-fill welding tractor for ship unit erection

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20140102

AK Designated contracting states

Kind code of ref document: A2

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

DAX Request for extension of the european patent (deleted)
A4 Supplementary search report drawn up and despatched

Effective date: 20151009

RIC1 Information provided on ipc code assigned before grant

Ipc: G01D 1/14 20060101AFI20151005BHEP

Ipc: B23K 9/02 20060101ALI20151005BHEP

Ipc: B23K 31/12 20060101ALI20151005BHEP

Ipc: B23K 9/127 20060101ALI20151005BHEP

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN

18D Application deemed to be withdrawn

Effective date: 20160507